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<div class="title">SimControlPanel.cpp</div>  </div>
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<a href="../../d8/dcd/_sim_control_panel_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d7/dab/_sim_control_panel_8h.html">SimControlPanel.h</a>&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d2/d01/_control_parameters_8h.html">ControlParameters/ControlParameters.h</a>&gt;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;QFileDialog&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;QMessageBox&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;ui_SimControlPanel.h&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="../../d8/dcd/_sim_control_panel_8cpp.html#a771db95f0473f6530892c739de3c1b83">   11</a></span>&#160;<span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="../../d8/dcd/_sim_control_panel_8cpp.html#a771db95f0473f6530892c739de3c1b83">createErrorMessage</a>(<span class="keyword">const</span> std::string&amp; text) {</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  QMessageBox mb;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  mb.setText(QString(text.c_str()));</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  mb.exec();</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;}</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="../../d8/dcd/_sim_control_panel_8cpp.html#a95b841e725f99ed779bdcbf80579cfd5">   20</a></span>&#160;<span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="../../d8/dcd/_sim_control_panel_8cpp.html#a95b841e725f99ed779bdcbf80579cfd5">updateQtableWithParameters</a>(<a class="code" href="../../d8/d86/class_control_parameters.html">ControlParameters</a>&amp; params,</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;                                       QTableWidget&amp; table) {</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  table.setRowCount((<a class="code" href="../../d0/d99/c_types_8h.html#ae9b1af5c037e57a98884758875d3a7c4">s32</a>)params.<a class="code" href="../../d8/d86/class_control_parameters.html#ab42dff0f07e88bf44c831238dd4ce96f">collection</a>.<a class="code" href="../../dd/da1/class_control_parameter_collection.html#a10baad903728358f310f523c45e0326c">_map</a>.size());</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  table.setColumnCount(2);</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="../../d0/d99/c_types_8h.html#ae9b1af5c037e57a98884758875d3a7c4">s32</a> i = 0;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; kv : params.<a class="code" href="../../d8/d86/class_control_parameters.html#ab42dff0f07e88bf44c831238dd4ce96f">collection</a>.<a class="code" href="../../dd/da1/class_control_parameter_collection.html#a10baad903728358f310f523c45e0326c">_map</a>) {</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    (void)kv;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keywordflow">for</span> (<a class="code" href="../../d0/d99/c_types_8h.html#ae9b1af5c037e57a98884758875d3a7c4">s32</a> col = 0; col &lt; 2; col++) {</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      QTableWidgetItem* cell = table.item(i, col);</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;      <span class="keywordflow">if</span> (!cell) {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        cell = <span class="keyword">new</span> QTableWidgetItem;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        table.setItem(i, col, cell);</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      }</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    }</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    table.item(i, 0)-&gt;setText(QString(kv.first.c_str()));</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    table.item(i, 1)-&gt;setText(QString(kv.second-&gt;toString().c_str()));</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    i++;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  }</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;}</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a728b28e7a0ccf97ce92ba1ebcc8d675a">   45</a></span>&#160;<a class="code" href="../../d1/d22/class_sim_control_panel.html#a728b28e7a0ccf97ce92ba1ebcc8d675a">SimControlPanel::SimControlPanel</a>(QWidget* parent)</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    : QMainWindow(parent),</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      ui(new <a class="code" href="../../dc/df0/namespace_ui.html">Ui</a>::<a class="code" href="../../d1/d22/class_sim_control_panel.html">SimControlPanel</a>),</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      _userParameters(<span class="stringliteral">&quot;user-parameters&quot;</span>),</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      _terrainFileName(<a class="code" href="../../de/df0/utilities_8h.html#afe1bbec53e0ac370224c4aa5c3433b0e">getConfigDirectoryPath</a>() + <a class="code" href="../../d7/dab/_sim_control_panel_8h.html#a84e698606ec3548e7f8cf2e9387162b5">DEFAULT_TERRAIN_FILE</a>) {</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;setupUi(<span class="keyword">this</span>); <span class="comment">// QT setup</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#afe9de8bed4d2d8c0e6825b27abb11571">updateUiEnable</a>();  <span class="comment">// enable/disable buttons as needed.</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#ac73587c091a83720cca5cd621e51e796">updateTerrainLabel</a>(); <span class="comment">// display name of loaded terrain file</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">// attempt to load default user settings.</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a8e2e46e62705f043140cb3ba5c20cb80">_loadedUserSettings</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordflow">try</span> {</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a0eb8e9cf0f5ac5ba224c30d6085fc66b">_userParameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#ab20496fc55207ace7e7589fd652edcf4">defineAndInitializeFromYamlFile</a>(<a class="code" href="../../de/df0/utilities_8h.html#afe1bbec53e0ac370224c4aa5c3433b0e">getConfigDirectoryPath</a>() + <a class="code" href="../../d7/dab/_sim_control_panel_8h.html#a3c3ad9a240dfd4de8da2c87896dfd0a1">DEFAULT_USER_FILE</a>);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  } <span class="keywordflow">catch</span> (std::runtime_error&amp; ex) {</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a8e2e46e62705f043140cb3ba5c20cb80">_loadedUserSettings</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  }</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordflow">if</span>(!<a class="code" href="../../d1/d22/class_sim_control_panel.html#a8e2e46e62705f043140cb3ba5c20cb80">_loadedUserSettings</a>) {</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    printf(<span class="stringliteral">&quot;[SimControlPanel] Failed to load default user settings!\n&quot;</span>);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="comment">// display user settings in qtable if we loaded successfully</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#ac7d1641c396f8939d615484a11b6ee49">loadUserParameters</a>(<a class="code" href="../../d1/d22/class_sim_control_panel.html#a0eb8e9cf0f5ac5ba224c30d6085fc66b">_userParameters</a>);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  }</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="comment">// load simulator parameters</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  printf(<span class="stringliteral">&quot;[SimControlPanel] Init simulator parameters...\n&quot;</span>);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">_parameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#a18eb23794d712e6c56120e644883e4e0">initializeFromYamlFile</a>(<a class="code" href="../../de/df0/utilities_8h.html#afe1bbec53e0ac370224c4aa5c3433b0e">getConfigDirectoryPath</a>() +</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                                     <a class="code" href="../../d2/dc1/_simulator_parameters_8h.html#aa00dee4f2e7a2c2386fa6a383347eaa4">SIMULATOR_DEFAULT_PARAMETERS</a>);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">_parameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#a12b144b3d659080b6e0bfd93569b566e">isFullyInitialized</a>()) {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    printf(</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="stringliteral">&quot;[ERROR] Simulator parameters are not fully initialized.  You forgot: &quot;</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="stringliteral">&quot;\n%s\n&quot;</span>,</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <a class="code" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">_parameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#a6fc860c65c6484562dfc922cb5806410">generateUnitializedList</a>().c_str());</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;simulator not initialized&quot;</span>);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    printf(<span class="stringliteral">&quot;\tsim parameters are all good\n&quot;</span>);</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  }</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#aaef98cf6f4f5e4d82bf33eea3d1c80fc">loadSimulationParameters</a>(<a class="code" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">_parameters</a>);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;}</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a6546553c44c77b3cc5b6b6b6025d8d8d">   87</a></span>&#160;<a class="code" href="../../d1/d22/class_sim_control_panel.html#a6546553c44c77b3cc5b6b6b6025d8d8d">SimControlPanel::~SimControlPanel</a>() {</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keyword">delete</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keyword">delete</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#afe0fc7cc7fd726d0aa663778aaee3fa4">_interfaceTaskManager</a>;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keyword">delete</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keyword">delete</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a3544df10d412a1c4879a31dce140f9ec">_graphicsWindow</a>;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keyword">delete</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;}</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#afe9de8bed4d2d8c0e6825b27abb11571">   98</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#afe9de8bed4d2d8c0e6825b27abb11571">SimControlPanel::updateUiEnable</a>() {</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;startButton-&gt;setEnabled(!<a class="code" href="../../d1/d22/class_sim_control_panel.html#aba319814f4e1d9f0350828e38acaab7b">_started</a>);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;stopButton-&gt;setEnabled(<a class="code" href="../../d1/d22/class_sim_control_panel.html#aba319814f4e1d9f0350828e38acaab7b">_started</a>);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;joystickButton-&gt;setEnabled(<a class="code" href="../../d1/d22/class_sim_control_panel.html#aba319814f4e1d9f0350828e38acaab7b">_started</a>);</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;robotTable-&gt;setEnabled(<a class="code" href="../../d1/d22/class_sim_control_panel.html#aba319814f4e1d9f0350828e38acaab7b">_started</a>);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;goHomeButton-&gt;setEnabled(<a class="code" href="../../d1/d22/class_sim_control_panel.html#aba319814f4e1d9f0350828e38acaab7b">_started</a>);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;}</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#ac73587c091a83720cca5cd621e51e796">  109</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#ac73587c091a83720cca5cd621e51e796">SimControlPanel::updateTerrainLabel</a>() {</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;terrainFileLabel-&gt;setText(QString(<a class="code" href="../../d1/d22/class_sim_control_panel.html#a997010d4f985f70cd9eef7b9e79b4ec7">_terrainFileName</a>.c_str()));</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;}</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#afdfa6b365805d23d5438862de97856ae">  116</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#afdfa6b365805d23d5438862de97856ae">SimControlPanel::on_startButton_clicked</a>() {</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="comment">// get robot type</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a> robotType;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;cheetah3Button-&gt;isChecked()) {</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    robotType = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45">RobotType::CHEETAH_3</a>;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;miniCheetahButton-&gt;isChecked()) {</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    robotType = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498">RobotType::MINI_CHEETAH</a>;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <a class="code" href="../../d8/dcd/_sim_control_panel_8cpp.html#a771db95f0473f6530892c739de3c1b83">createErrorMessage</a>(<span class="stringliteral">&quot;Error: you must select a robot&quot;</span>);</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  }</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="comment">// get run type</span></div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;simulatorButton-&gt;isChecked() &amp;&amp; !<a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;robotButton-&gt;isChecked()) {</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <a class="code" href="../../d8/dcd/_sim_control_panel_8cpp.html#a771db95f0473f6530892c739de3c1b83">createErrorMessage</a>(</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="stringliteral">&quot;Error: you must select either robot or simulation mode&quot;</span>);</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  }</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#abf836cd5239f51a3ec820a769109938c">_simulationMode</a> = <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;simulatorButton-&gt;isChecked();</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="comment">// graphics</span></div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  printf(<span class="stringliteral">&quot;[SimControlPanel] Initialize Graphics...\n&quot;</span>);</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a3544df10d412a1c4879a31dce140f9ec">_graphicsWindow</a> = <span class="keyword">new</span> <a class="code" href="../../de/d6f/class_graphics3_d.html">Graphics3D</a>();</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a3544df10d412a1c4879a31dce140f9ec">_graphicsWindow</a>-&gt;show();</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a3544df10d412a1c4879a31dce140f9ec">_graphicsWindow</a>-&gt;resize(1280, 720);</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d1/d22/class_sim_control_panel.html#abf836cd5239f51a3ec820a769109938c">_simulationMode</a>) {</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="comment">// run a simulation</span></div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    printf(<span class="stringliteral">&quot;[SimControlPanel] Initialize simulator...\n&quot;</span>);</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; 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   <a class="code" href="../../d1/d22/class_sim_control_panel.html#a5b70595cb694b786dadb966fd793e9de">loadRobotParameters</a>(<a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a273ece51bef7819a95e7924d2a130976">getParams</a>());</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#afb4bc3cd443238371c6b09be6d6e2da7">startInterface</a>();</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a3544df10d412a1c4879a31dce140f9ec">_graphicsWindow</a>-&gt;<a class="code" href="../../de/d6f/class_graphics3_d.html#a322467ce2efdc212fe61c0cd782aa8f2">setAnimating</a>(<span class="keyword">true</span>);</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  }</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#aba319814f4e1d9f0350828e38acaab7b">_started</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#afe9de8bed4d2d8c0e6825b27abb11571">updateUiEnable</a>();</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;}</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#af65b310d0bd0bc382519de762ce32f90">  177</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#af65b310d0bd0bc382519de762ce32f90">SimControlPanel::on_stopButton_clicked</a>() {</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>) {</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#af6d3f404c8c791cd05c6e5b6246dcbc2">stop</a>();</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a4556e36b30c9bfee75444c17db695978">_simThread</a>.join();</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a66c4458fa8f57b3b8dfe6cf3ad707a76">stopInterface</a>();</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; 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params) {</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <a class="code" href="../../d8/dcd/_sim_control_panel_8cpp.html#a95b841e725f99ed779bdcbf80579cfd5">updateQtableWithParameters</a>(params, *<a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;robotTable);</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;}</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#ac7d1641c396f8939d615484a11b6ee49">  228</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#ac7d1641c396f8939d615484a11b6ee49">SimControlPanel::loadUserParameters</a>(<a class="code" href="../../d8/d86/class_control_parameters.html">ControlParameters</a>&amp; params) {</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <a class="code" href="../../d8/dcd/_sim_control_panel_8cpp.html#a95b841e725f99ed779bdcbf80579cfd5">updateQtableWithParameters</a>(params, *<a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;userControlTable);</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;}</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;</div><div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#aacc8230b4c29bc35ec7443643447bbf7">  237</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#aacc8230b4c29bc35ec7443643447bbf7">SimControlPanel::on_joystickButton_clicked</a>() {</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a3544df10d412a1c4879a31dce140f9ec">_graphicsWindow</a>-&gt;<a class="code" href="../../de/d6f/class_graphics3_d.html#a223a0a4354b534d1d264e50f70ce284f">resetGameController</a>();</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;}</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;</div><div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a035fd69773f435f526438e3fa698ef7d">  241</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a035fd69773f435f526438e3fa698ef7d">SimControlPanel::on_driverButton_clicked</a>() {}</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;</div><div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a6f6f79d1ec8e5b96b862652a286846bf">  246</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a6f6f79d1ec8e5b96b862652a286846bf">SimControlPanel::on_simulatorTable_cellChanged</a>(<span class="keywordtype">int</span> row, <span class="keywordtype">int</span> column) {</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a>) <span class="keywordflow">return</span>;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <span class="comment">// we only allow values to change, which are in column 1</span></div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  <span class="keywordflow">if</span> (column != 1) {</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  }</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  <span class="comment">// get the name of the parameter....</span></div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; 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If it&#39;s a float, it puts in scientific notation if needed.</span></div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;simulatorTable-&gt;item(row, 1)-&gt;setText(</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        QString(parameter.toString().c_str()));</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  }</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;}</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;</div><div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a60bac36419bd6e73eb6ea69c006fff42">  303</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a60bac36419bd6e73eb6ea69c006fff42">SimControlPanel::on_saveSimulatorButton_clicked</a>() {</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  QString fileName = QFileDialog::getSaveFileName(</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="keyword">nullptr</span>, (<span class="stringliteral">&quot;Save Simulator Table Values&quot;</span>), <span class="stringliteral">&quot;../config&quot;</span>, <span class="stringliteral">&quot;All Files (*)&quot;</span>);</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  <span class="keywordflow">if</span> (fileName == <span class="keyword">nullptr</span> || fileName == <span class="stringliteral">&quot;&quot;</span>) {</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <a class="code" href="../../d8/dcd/_sim_control_panel_8cpp.html#a771db95f0473f6530892c739de3c1b83">createErrorMessage</a>(<span class="stringliteral">&quot;File name is invalid&quot;</span>);</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  }</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">_parameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#a8f614fa95d472922d65efe48238a7afc">lockMutex</a>();</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">_parameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#a3eabcba112adc206c8a11d0cbfc75619">writeToYamlFile</a>(fileName.toStdString());</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">_parameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#af025ae2e93e63f23e77802189bfbc0af">unlockMutex</a>();</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;}</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;</div><div class="line"><a name="l00319"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a24375331e70d23b8e5f39703c009edb8">  319</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a24375331e70d23b8e5f39703c009edb8">SimControlPanel::on_loadSimulatorButton_clicked</a>() {</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  QString fileName = QFileDialog::getOpenFileName(</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <span class="keyword">nullptr</span>, (<span class="stringliteral">&quot;Load Simulator Table Values&quot;</span>), <span class="stringliteral">&quot;../config&quot;</span>, <span class="stringliteral">&quot;All Files (*)&quot;</span>);</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  <span class="keywordflow">if</span> (fileName == <span class="keyword">nullptr</span> || fileName == <span class="stringliteral">&quot;&quot;</span>) {</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <a class="code" href="../../d8/dcd/_sim_control_panel_8cpp.html#a771db95f0473f6530892c739de3c1b83">createErrorMessage</a>(<span class="stringliteral">&quot;File name is invalid&quot;</span>);</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  };</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">_parameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#ab42dff0f07e88bf44c831238dd4ce96f">collection</a>.<a class="code" href="../../dd/da1/class_control_parameter_collection.html#ad53fd1f116f012437c5933d150b630bb">clearAllSet</a>();</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">_parameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#a18eb23794d712e6c56120e644883e4e0">initializeFromYamlFile</a>(fileName.toStdString());</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">_parameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#ab42dff0f07e88bf44c831238dd4ce96f">collection</a>.<a class="code" href="../../dd/da1/class_control_parameter_collection.html#a9a8b467533b42dd661d659b715383729">checkIfAllSet</a>()) {</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    printf(</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        <span class="stringliteral">&quot;new settings file %s doesn&#39;t contain the following simulator &quot;</span></div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        <span class="stringliteral">&quot;parameters:\n%s\n&quot;</span>,</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;        fileName.toStdString().c_str(),</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        <a class="code" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">_parameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#a6fc860c65c6484562dfc922cb5806410">generateUnitializedList</a>().c_str());</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;bad new settings file&quot;</span>);</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  }</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#aaef98cf6f4f5e4d82bf33eea3d1c80fc">loadSimulationParameters</a>(<a class="code" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">_parameters</a>);</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">_parameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#af025ae2e93e63f23e77802189bfbc0af">unlockMutex</a>();</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;}</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;</div><div class="line"><a name="l00340"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#aac45ac89880d2d316de41365cd6b7cfb">  340</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#aac45ac89880d2d316de41365cd6b7cfb">SimControlPanel::on_robotTable_cellChanged</a>(<span class="keywordtype">int</span> row, <span class="keywordtype">int</span> column) {</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a>) <span class="keywordflow">return</span>;</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  <span class="keywordflow">if</span> (column != 1) {</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  }</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  <span class="keyword">auto</span> cell = <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;robotTable-&gt;item(row, 0);</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  std::string cellName = cell-&gt;text().toStdString();</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  <span class="keywordflow">if</span> (cellName == <span class="stringliteral">&quot;&quot;</span>) {</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  }</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  <span class="keyword">auto</span>&amp; parameter = (<a class="code" href="../../d1/d22/class_sim_control_panel.html#abf836cd5239f51a3ec820a769109938c">_simulationMode</a> ? <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a72521ff0a387ce6a53fec3bd9b209b5e">getRobotParams</a>()</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;                                     : <a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a273ece51bef7819a95e7924d2a130976">getParams</a>())</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;                        .collection.lookup(cellName);</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  <a class="code" href="../../d2/d01/_control_parameters_8h.html#a09b572cf97f12b378290dee549d8ecc3">ControlParameterValueKind</a> kind = parameter._kind;</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  <a class="code" href="../../df/df2/union_control_parameter_value.html">ControlParameterValue</a> oldValue = parameter.get(kind);</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  <span class="keywordtype">bool</span> success = <span class="keyword">true</span>;</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  <span class="keywordflow">try</span> {</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    parameter.setFromString(<a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;robotTable-&gt;item(row, 1)-&gt;text().toStdString());</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  } <span class="keywordflow">catch</span> (std::exception&amp; e) {</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    success = <span class="keyword">false</span>;</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  }</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  <span class="keywordflow">if</span> (!success) {</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    printf(<span class="stringliteral">&quot;[ERROR] invalid data, restoring old data!\n&quot;</span>);</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    parameter.set(oldValue, kind);</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    assert(!<a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a>);</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;robotTable-&gt;item(row, 1)-&gt;setText(</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        QString(parameter</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;                    .toString()</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;                    .c_str()));</div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="../../d1/d22/class_sim_control_panel.html#abf836cd5239f51a3ec820a769109938c">_simulationMode</a>) {</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a84d72d5cddf1b6b5dbbe94f83a448958">isRobotConnected</a>()) {</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a31364f2daa9daedef347aaff4001796c">sendControlParameter</a>(</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;            cellName, parameter.get(parameter._kind), parameter._kind, <span class="keyword">false</span>);</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      }</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      <a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;robotTable-&gt;item(row, 1)-&gt;setText(</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;          QString(parameter.toString().c_str()));</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      <a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      <a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a3e8ce08dd7aa4f2127563e1eb8317140">sendControlParameter</a>(</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;          cellName, parameter.get(parameter._kind), parameter._kind, <span class="keyword">false</span>);</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    }</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  }</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;}</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;</div><div class="line"><a name="l00397"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a46ade2ee740fbaf1466b226a62e72ceb">  397</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a46ade2ee740fbaf1466b226a62e72ceb">SimControlPanel::on_saveRobotButton_clicked</a>() {</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  QString fileName = QFileDialog::getSaveFileName(</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      <span class="keyword">nullptr</span>, (<span class="stringliteral">&quot;Save Robot Table Values&quot;</span>), <span class="stringliteral">&quot;../config&quot;</span>, <span class="stringliteral">&quot;All Files (*)&quot;</span>);</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  <span class="keywordflow">if</span> (fileName == <span class="keyword">nullptr</span> || fileName == <span class="stringliteral">&quot;&quot;</span>) {</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    <a class="code" href="../../d8/dcd/_sim_control_panel_8cpp.html#a771db95f0473f6530892c739de3c1b83">createErrorMessage</a>(<span class="stringliteral">&quot;File name is invalid&quot;</span>);</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  }</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a72521ff0a387ce6a53fec3bd9b209b5e">getRobotParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#a3eabcba112adc206c8a11d0cbfc75619">writeToYamlFile</a>(fileName.toStdString());</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;}</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;</div><div class="line"><a name="l00407"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a932918fe9325002dec7f5585c4bfc4f3">  407</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a932918fe9325002dec7f5585c4bfc4f3">SimControlPanel::on_loadRobotButton_clicked</a>() {</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;  QString fileName = QFileDialog::getOpenFileName(</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      <span class="keyword">nullptr</span>, (<span class="stringliteral">&quot;Load Quadruped Table Values&quot;</span>), <span class="stringliteral">&quot;../config&quot;</span>, <span class="stringliteral">&quot;All Files (*)&quot;</span>);</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  <span class="keywordflow">if</span> (fileName == <span class="keyword">nullptr</span> || fileName == <span class="stringliteral">&quot;&quot;</span>) {</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    <a class="code" href="../../d8/dcd/_sim_control_panel_8cpp.html#a771db95f0473f6530892c739de3c1b83">createErrorMessage</a>(<span class="stringliteral">&quot;File name is invalid&quot;</span>);</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  }</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;</div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d1/d22/class_sim_control_panel.html#abf836cd5239f51a3ec820a769109938c">_simulationMode</a>) {</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a72521ff0a387ce6a53fec3bd9b209b5e">getRobotParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#a8f614fa95d472922d65efe48238a7afc">lockMutex</a>();</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a72521ff0a387ce6a53fec3bd9b209b5e">getRobotParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#ab42dff0f07e88bf44c831238dd4ce96f">collection</a>.<a class="code" href="../../dd/da1/class_control_parameter_collection.html#ad53fd1f116f012437c5933d150b630bb">clearAllSet</a>();</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a72521ff0a387ce6a53fec3bd9b209b5e">getRobotParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#a18eb23794d712e6c56120e644883e4e0">initializeFromYamlFile</a>(</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;        fileName.toStdString());</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a72521ff0a387ce6a53fec3bd9b209b5e">getRobotParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#ab42dff0f07e88bf44c831238dd4ce96f">collection</a>.<a class="code" href="../../dd/da1/class_control_parameter_collection.html#a9a8b467533b42dd661d659b715383729">checkIfAllSet</a>()) {</div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      printf(</div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;          <span class="stringliteral">&quot;new settings file %s doesn&#39;t contain the following robot &quot;</span></div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;          <span class="stringliteral">&quot;parameters:\n%s\n&quot;</span>,</div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;          fileName.toStdString().c_str(),</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;          <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a72521ff0a387ce6a53fec3bd9b209b5e">getRobotParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#a6fc860c65c6484562dfc922cb5806410">generateUnitializedList</a>().c_str());</div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;bad new settings file&quot;</span>);</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    }</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a5b70595cb694b786dadb966fd793e9de">loadRobotParameters</a>(<a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a72521ff0a387ce6a53fec3bd9b209b5e">getRobotParams</a>());</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a84d72d5cddf1b6b5dbbe94f83a448958">isRobotConnected</a>()) {</div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; kv : <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a72521ff0a387ce6a53fec3bd9b209b5e">getRobotParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#ab42dff0f07e88bf44c831238dd4ce96f">collection</a>.<a class="code" href="../../dd/da1/class_control_parameter_collection.html#a10baad903728358f310f523c45e0326c">_map</a>) {</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a31364f2daa9daedef347aaff4001796c">sendControlParameter</a>(</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;            kv.first, kv.second-&gt;get(kv.second-&gt;_kind), kv.second-&gt;_kind, <span class="keyword">false</span>);</div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;      }</div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    }</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a72521ff0a387ce6a53fec3bd9b209b5e">getRobotParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#af025ae2e93e63f23e77802189bfbc0af">unlockMutex</a>();</div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a273ece51bef7819a95e7924d2a130976">getParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#a8f614fa95d472922d65efe48238a7afc">lockMutex</a>();</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a273ece51bef7819a95e7924d2a130976">getParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#ab42dff0f07e88bf44c831238dd4ce96f">collection</a>.<a class="code" href="../../dd/da1/class_control_parameter_collection.html#ad53fd1f116f012437c5933d150b630bb">clearAllSet</a>();</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a273ece51bef7819a95e7924d2a130976">getParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#a18eb23794d712e6c56120e644883e4e0">initializeFromYamlFile</a>(fileName.toStdString());</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a273ece51bef7819a95e7924d2a130976">getParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#ab42dff0f07e88bf44c831238dd4ce96f">collection</a>.<a class="code" href="../../dd/da1/class_control_parameter_collection.html#a9a8b467533b42dd661d659b715383729">checkIfAllSet</a>()) {</div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;      printf(</div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;          <span class="stringliteral">&quot;new settings file %s doesn&#39;t contain the following robot &quot;</span></div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;          <span class="stringliteral">&quot;parameters:\n%s\n&quot;</span>,</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;          fileName.toStdString().c_str(),</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;          <a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a273ece51bef7819a95e7924d2a130976">getParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#a6fc860c65c6484562dfc922cb5806410">generateUnitializedList</a>().c_str());</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;bad new settings file&quot;</span>);</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;    }</div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a5b70595cb694b786dadb966fd793e9de">loadRobotParameters</a>(<a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a273ece51bef7819a95e7924d2a130976">getParams</a>());</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; kv : <a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a273ece51bef7819a95e7924d2a130976">getParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#ab42dff0f07e88bf44c831238dd4ce96f">collection</a>.<a class="code" href="../../dd/da1/class_control_parameter_collection.html#a10baad903728358f310f523c45e0326c">_map</a>) {</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;      <a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a3e8ce08dd7aa4f2127563e1eb8317140">sendControlParameter</a>(</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;          kv.first, kv.second-&gt;get(kv.second-&gt;_kind), kv.second-&gt;_kind, <span class="keyword">false</span>);</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    }</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a273ece51bef7819a95e7924d2a130976">getParams</a>().<a class="code" href="../../d8/d86/class_control_parameters.html#af025ae2e93e63f23e77802189bfbc0af">unlockMutex</a>();</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  }</div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;}</div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;</div><div class="line"><a name="l00460"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#adaa9b0d834169514c675148f78f29962">  460</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#adaa9b0d834169514c675148f78f29962">SimControlPanel::on_setTerrainButton_clicked</a>() {</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  QString fileName = QFileDialog::getOpenFileName(</div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;      <span class="keyword">nullptr</span>, (<span class="stringliteral">&quot;Load Terrain Definition&quot;</span>), <span class="stringliteral">&quot;../config&quot;</span>, <span class="stringliteral">&quot;All Files (*)&quot;</span>);</div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;  <span class="keywordflow">if</span> (fileName == <span class="keyword">nullptr</span> || fileName == <span class="stringliteral">&quot;&quot;</span>) {</div><div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;    <a class="code" href="../../d8/dcd/_sim_control_panel_8cpp.html#a771db95f0473f6530892c739de3c1b83">createErrorMessage</a>(<span class="stringliteral">&quot;File name is invalid&quot;</span>);</div><div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;  }</div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;</div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a997010d4f985f70cd9eef7b9e79b4ec7">_terrainFileName</a> = fileName.toStdString();</div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#ac73587c091a83720cca5cd621e51e796">updateTerrainLabel</a>();</div><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;}</div><div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;</div><div class="line"><a name="l00472"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a0228e09f693480d3975515c2536dd9d2">  472</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a0228e09f693480d3975515c2536dd9d2">SimControlPanel::on_userControlTable_cellChanged</a>(<span class="keywordtype">int</span> row, <span class="keywordtype">int</span> column) {</div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a>) <span class="keywordflow">return</span>;</div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;  <span class="keywordflow">if</span> (column != 1) {</div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;  }</div><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;</div><div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;  <span class="keyword">auto</span> cell = <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;userControlTable-&gt;item(row, 0);</div><div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;  std::string cellName = cell-&gt;text().toStdString();</div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;</div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;  <span class="keywordflow">if</span> (cellName == <span class="stringliteral">&quot;&quot;</span>) {</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;  }</div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;</div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;  <span class="keyword">auto</span>&amp; parameter = <a class="code" href="../../d1/d22/class_sim_control_panel.html#a0eb8e9cf0f5ac5ba224c30d6085fc66b">_userParameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#ab42dff0f07e88bf44c831238dd4ce96f">collection</a>.<a class="code" href="../../dd/da1/class_control_parameter_collection.html#a9e6262aa46992ca879b50d70df030a56">lookup</a>(cellName);</div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;<span class="comment">//  auto&amp; parameter = (_simulationMode ? _simulation-&gt;getRobotParams()</span></div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;<span class="comment">//                                     : _robotInterface-&gt;getParams())</span></div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;<span class="comment">//      .collection.lookup(cellName);</span></div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;  <a class="code" href="../../d2/d01/_control_parameters_8h.html#a09b572cf97f12b378290dee549d8ecc3">ControlParameterValueKind</a> kind = parameter.<a class="code" href="../../da/d98/class_control_parameter.html#a9bfcef0e53e248af51d60e013609ce8f">_kind</a>;</div><div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;  <a class="code" href="../../df/df2/union_control_parameter_value.html">ControlParameterValue</a> oldValue = parameter.get(kind);</div><div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;</div><div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;  <span class="keywordtype">bool</span> success = <span class="keyword">true</span>;</div><div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;</div><div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  <span class="keywordflow">try</span> {</div><div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    parameter.setFromString(<a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;userControlTable-&gt;item(row, 1)-&gt;text().toStdString());</div><div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;  } <span class="keywordflow">catch</span> (std::exception&amp; e) {</div><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    success = <span class="keyword">false</span>;</div><div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;  }</div><div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;</div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  <span class="keywordflow">if</span> (!success) {</div><div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    printf(<span class="stringliteral">&quot;[ERROR] invalid data, restoring old data!\n&quot;</span>);</div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    parameter.set(oldValue, kind);</div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;</div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    assert(!<a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a>);</div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;</div><div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;userControlTable-&gt;item(row, 1)-&gt;setText(</div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;        QString(<a class="code" href="../../d1/d22/class_sim_control_panel.html#a0eb8e9cf0f5ac5ba224c30d6085fc66b">_userParameters</a></div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;                    .collection.lookup(cellName)</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;                    .toString()</div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;                    .c_str()));</div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    <a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="../../d1/d22/class_sim_control_panel.html#aba319814f4e1d9f0350828e38acaab7b">_started</a>) {</div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="../../d1/d22/class_sim_control_panel.html#abf836cd5239f51a3ec820a769109938c">_simulationMode</a>) {</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a> &amp;&amp; <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a84d72d5cddf1b6b5dbbe94f83a448958">isRobotConnected</a>()) {</div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;          <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a31364f2daa9daedef347aaff4001796c">sendControlParameter</a>(</div><div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;              cellName, parameter.get(parameter._kind), parameter._kind, <span class="keyword">true</span>);</div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;        }</div><div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;</div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;        <a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;        <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;userControlTable-&gt;item(row, 1)-&gt;setText(</div><div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;            QString(parameter.toString().c_str()));</div><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;        <a class="code" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">_ignoreTableCallbacks</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;      <a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a3e8ce08dd7aa4f2127563e1eb8317140">sendControlParameter</a>(</div><div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;          cellName, parameter.get(parameter._kind), parameter._kind, <span class="keyword">true</span>);</div><div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;      }</div><div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;    }</div><div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;  }</div><div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;}</div><div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;</div><div class="line"><a name="l00533"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a9a891de8902696e8c1775978d517ed58">  533</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a9a891de8902696e8c1775978d517ed58">SimControlPanel::on_loadUserButton_clicked</a>() {</div><div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;  QString fileName = QFileDialog::getOpenFileName(</div><div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;      <span class="keyword">nullptr</span>, (<span class="stringliteral">&quot;Load User Table Values&quot;</span>), <span class="stringliteral">&quot;../config&quot;</span>, <span class="stringliteral">&quot;All Files (*)&quot;</span>);</div><div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;  <span class="keywordflow">if</span> (fileName == <span class="keyword">nullptr</span> || fileName == <span class="stringliteral">&quot;&quot;</span>) {</div><div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;    <a class="code" href="../../d8/dcd/_sim_control_panel_8cpp.html#a771db95f0473f6530892c739de3c1b83">createErrorMessage</a>(<span class="stringliteral">&quot;File name is invalid&quot;</span>);</div><div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;  }</div><div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;</div><div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a0eb8e9cf0f5ac5ba224c30d6085fc66b">_userParameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#a8f614fa95d472922d65efe48238a7afc">lockMutex</a>();</div><div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a0eb8e9cf0f5ac5ba224c30d6085fc66b">_userParameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#ab42dff0f07e88bf44c831238dd4ce96f">collection</a>.<a class="code" href="../../dd/da1/class_control_parameter_collection.html#a47d611dedd2df7c3c07700c0900ae255">deleteAll</a>();</div><div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a0eb8e9cf0f5ac5ba224c30d6085fc66b">_userParameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#ab20496fc55207ace7e7589fd652edcf4">defineAndInitializeFromYamlFile</a>(</div><div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      fileName.toStdString());</div><div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#ac7d1641c396f8939d615484a11b6ee49">loadUserParameters</a>(<a class="code" href="../../d1/d22/class_sim_control_panel.html#a0eb8e9cf0f5ac5ba224c30d6085fc66b">_userParameters</a>);</div><div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a0eb8e9cf0f5ac5ba224c30d6085fc66b">_userParameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#af025ae2e93e63f23e77802189bfbc0af">unlockMutex</a>();</div><div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a8e2e46e62705f043140cb3ba5c20cb80">_loadedUserSettings</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;</div><div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;  <span class="keywordflow">if</span>(<a class="code" href="../../d1/d22/class_sim_control_panel.html#aba319814f4e1d9f0350828e38acaab7b">_started</a>) {</div><div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="../../d1/d22/class_sim_control_panel.html#abf836cd5239f51a3ec820a769109938c">_simulationMode</a>) {</div><div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; 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     <a class="code" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">_robotInterface</a>-&gt;<a class="code" href="../../d6/d05/class_robot_interface.html#a3e8ce08dd7aa4f2127563e1eb8317140">sendControlParameter</a>(</div><div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;          kv.first, kv.second-&gt;get(kv.second-&gt;_kind), kv.second-&gt;_kind, <span class="keyword">true</span>);</div><div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;    }</div><div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;</div><div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;    }</div><div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  }</div><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;}</div><div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;</div><div class="line"><a name="l00567"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a96301cf6c70c8339547f448a47ee1307">  567</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a96301cf6c70c8339547f448a47ee1307">SimControlPanel::on_saveUserButton_clicked</a>() {</div><div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  QString fileName = QFileDialog::getSaveFileName(</div><div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;      <span class="keyword">nullptr</span>, (<span class="stringliteral">&quot;Save User Table Values&quot;</span>), <span class="stringliteral">&quot;../config&quot;</span>, <span class="stringliteral">&quot;All Files (*)&quot;</span>);</div><div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  <span class="keywordflow">if</span> (fileName == <span class="keyword">nullptr</span> || fileName == <span class="stringliteral">&quot;&quot;</span>) {</div><div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;    <a class="code" href="../../d8/dcd/_sim_control_panel_8cpp.html#a771db95f0473f6530892c739de3c1b83">createErrorMessage</a>(<span class="stringliteral">&quot;File name is invalid&quot;</span>);</div><div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;  }</div><div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#a0eb8e9cf0f5ac5ba224c30d6085fc66b">_userParameters</a>.<a class="code" href="../../d8/d86/class_control_parameters.html#a3eabcba112adc206c8a11d0cbfc75619">writeToYamlFile</a>(fileName.toStdString());</div><div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;}</div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;</div><div class="line"><a name="l00577"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a9fd8fa720052f15525637834f456c465">  577</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a9fd8fa720052f15525637834f456c465">SimControlPanel::on_goHomeButton_clicked</a>() {</div><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;  printf(<span class="stringliteral">&quot;go home\n&quot;</span>);</div><div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  <a class="code" href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt;double&gt;</a> homeState;</div><div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;  homeState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">bodyOrientation</a> &lt;&lt; 1, 0, 0, 0;</div><div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;  homeState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abbf400085816b6baa4e4a0597ac5b118">bodyPosition</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a>(0, 0, 0.4);</div><div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;  homeState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;::Zero</a>();</div><div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;  homeState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#ae5a66b0d3fecb2cdd9ee3c68f72e9182">q</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec&lt;double&gt;</a>(12);</div><div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;  homeState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#ae5a66b0d3fecb2cdd9ee3c68f72e9182">q</a> &lt;&lt; -0.05, -0.8, 1.7, 0.05, -0.8, 1.7, -0.05, -0.8, 1.7, 0.05, -0.8, 1.7;</div><div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;  homeState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#a97f42a6014fc5d9fd3dc22f7158099f4">qd</a> = homeState.<a class="code" href="../../de/d75/struct_f_b_model_state.html#ae5a66b0d3fecb2cdd9ee3c68f72e9182">q</a>;</div><div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;</div><div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a8a3a6fa9691b58d5dc614d98b8e4fefb">setRobotState</a>(homeState);</div><div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;}</div><div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;</div><div class="line"><a name="l00590"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a18191363c7461cd1af623e790df2e71e">  590</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a18191363c7461cd1af623e790df2e71e">SimControlPanel::on_kickButton_clicked</a>() {</div><div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;  <span class="comment">// velocity of the floating base:</span></div><div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec&lt;double&gt;</a> kickVelocity;</div><div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  kickVelocity &lt;&lt; <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;kickAngularX-&gt;text().toDouble(),</div><div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;      <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;kickAngularY-&gt;text().toDouble(), <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;kickAngularZ-&gt;text().toDouble(),</div><div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;      <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;kickLinearX-&gt;text().toDouble(), <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;kickLinearY-&gt;text().toDouble(),</div><div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;      <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>-&gt;kickLinearZ-&gt;text().toDouble();</div><div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;</div><div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;  <a class="code" href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt;double&gt;</a> state = <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#ac3fbb9bb368d8a3ed14ca6bf9a1c95d1">getRobotState</a>();</div><div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  state.<a class="code" href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">bodyVelocity</a> += kickVelocity;</div><div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;  <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">_simulation</a>-&gt;<a class="code" href="../../dd/d14/class_simulation.html#a8a3a6fa9691b58d5dc614d98b8e4fefb">setRobotState</a>(state);</div><div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;}</div><div class="ttc" id="class_graphics3_d_html_a223a0a4354b534d1d264e50f70ce284f"><div class="ttname"><a href="../../de/d6f/class_graphics3_d.html#a223a0a4354b534d1d264e50f70ce284f">Graphics3D::resetGameController</a></div><div class="ttdeci">void resetGameController()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/de7/_graphics3_d_8h_source.html#l00054">Graphics3D.h:54</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_ac73587c091a83720cca5cd621e51e796"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#ac73587c091a83720cca5cd621e51e796">SimControlPanel::updateTerrainLabel</a></div><div class="ttdeci">void updateTerrainLabel()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00109">SimControlPanel.cpp:109</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_abbf400085816b6baa4e4a0597ac5b118"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#abbf400085816b6baa4e4a0597ac5b118">FBModelState::bodyPosition</a></div><div class="ttdeci">Vec3&lt; T &gt; bodyPosition</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00041">FloatingBaseModel.h:41</a></div></div>
<div class="ttc" id="class_simulation_html_af6d3f404c8c791cd05c6e5b6246dcbc2"><div class="ttname"><a href="../../dd/d14/class_simulation.html#af6d3f404c8c791cd05c6e5b6246dcbc2">Simulation::stop</a></div><div class="ttdeci">void stop()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/ded/_simulation_8h_source.html#l00096">Simulation.h:96</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a590425b506eb87eff1a64ed14ffd1498">RobotType::MINI_CHEETAH</a></div></div>
<div class="ttc" id="_sim_control_panel_8cpp_html_a95b841e725f99ed779bdcbf80579cfd5"><div class="ttname"><a href="../../d8/dcd/_sim_control_panel_8cpp.html#a95b841e725f99ed779bdcbf80579cfd5">updateQtableWithParameters</a></div><div class="ttdeci">static void updateQtableWithParameters(ControlParameters &amp;params, QTableWidget &amp;table)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00020">SimControlPanel.cpp:20</a></div></div>
<div class="ttc" id="class_simulation_html_ac3fbb9bb368d8a3ed14ca6bf9a1c95d1"><div class="ttname"><a href="../../dd/d14/class_simulation.html#ac3fbb9bb368d8a3ed14ca6bf9a1c95d1">Simulation::getRobotState</a></div><div class="ttdeci">const FBModelState&lt; double &gt; &amp; getRobotState()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/ded/_simulation_8h_source.html#l00094">Simulation.h:94</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_ae1553a016715b4ffb99c2478de247623"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">SimControlPanel::_simulation</a></div><div class="ttdeci">Simulation * _simulation</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00076">SimControlPanel.h:76</a></div></div>
<div class="ttc" id="class_simulation_html_a34b590ee1fed73b2b6aaf3d2bcf3da0c"><div class="ttname"><a href="../../dd/d14/class_simulation.html#a34b590ee1fed73b2b6aaf3d2bcf3da0c">Simulation::runAtSpeed</a></div><div class="ttdeci">void runAtSpeed(bool graphics=true)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d98/_simulation_8cpp_source.html#l00579">Simulation.cpp:579</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a9fd8fa720052f15525637834f456c465"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a9fd8fa720052f15525637834f456c465">SimControlPanel::on_goHomeButton_clicked</a></div><div class="ttdeci">void on_goHomeButton_clicked()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00577">SimControlPanel.cpp:577</a></div></div>
<div class="ttc" id="class_control_parameters_html_ab42dff0f07e88bf44c831238dd4ce96f"><div class="ttname"><a href="../../d8/d86/class_control_parameters.html#ab42dff0f07e88bf44c831238dd4ce96f">ControlParameters::collection</a></div><div class="ttdeci">ControlParameterCollection collection</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/d01/_control_parameters_8h_source.html#l00441">ControlParameters.h:441</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_abf1fc0221d6b92d103193524a2046ffc"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#abf1fc0221d6b92d103193524a2046ffc">FBModelState::bodyVelocity</a></div><div class="ttdeci">SVec&lt; T &gt; bodyVelocity</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00042">FloatingBaseModel.h:42</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a24375331e70d23b8e5f39703c009edb8"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a24375331e70d23b8e5f39703c009edb8">SimControlPanel::on_loadSimulatorButton_clicked</a></div><div class="ttdeci">void on_loadSimulatorButton_clicked()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00319">SimControlPanel.cpp:319</a></div></div>
<div class="ttc" id="class_control_parameter_html_a9bfcef0e53e248af51d60e013609ce8f"><div class="ttname"><a href="../../da/d98/class_control_parameter.html#a9bfcef0e53e248af51d60e013609ce8f">ControlParameter::_kind</a></div><div class="ttdeci">ControlParameterValueKind _kind</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/d01/_control_parameters_8h_source.html#l00381">ControlParameters.h:381</a></div></div>
<div class="ttc" id="class_robot_interface_html_a3e8ce08dd7aa4f2127563e1eb8317140"><div class="ttname"><a href="../../d6/d05/class_robot_interface.html#a3e8ce08dd7aa4f2127563e1eb8317140">RobotInterface::sendControlParameter</a></div><div class="ttdeci">void sendControlParameter(const std::string &amp;name, ControlParameterValue value, ControlParameterValueKind kind, bool isUser)</div><div class="ttdef"><b>Definition:</b> <a href="../../dd/d4a/_robot_interface_8cpp_source.html#l00096">RobotInterface.cpp:96</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a932918fe9325002dec7f5585c4bfc4f3"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a932918fe9325002dec7f5585c4bfc4f3">SimControlPanel::on_loadRobotButton_clicked</a></div><div class="ttdeci">void on_loadRobotButton_clicked()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00407">SimControlPanel.cpp:407</a></div></div>
<div class="ttc" id="_control_parameters_8h_html_a09b572cf97f12b378290dee549d8ecc3"><div class="ttname"><a href="../../d2/d01/_control_parameters_8h.html#a09b572cf97f12b378290dee549d8ecc3">ControlParameterValueKind</a></div><div class="ttdeci">ControlParameterValueKind</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/d01/_control_parameters_8h_source.html#l00034">ControlParameters.h:34</a></div></div>
<div class="ttc" id="class_control_parameters_html"><div class="ttname"><a href="../../d8/d86/class_control_parameters.html">ControlParameters</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/d01/_control_parameters_8h_source.html#l00391">ControlParameters.h:391</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_abf836cd5239f51a3ec820a769109938c"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#abf836cd5239f51a3ec820a769109938c">SimControlPanel::_simulationMode</a></div><div class="ttdeci">bool _simulationMode</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00082">SimControlPanel.h:82</a></div></div>
<div class="ttc" id="class_control_parameters_html_af025ae2e93e63f23e77802189bfbc0af"><div class="ttname"><a href="../../d8/d86/class_control_parameters.html#af025ae2e93e63f23e77802189bfbc0af">ControlParameters::unlockMutex</a></div><div class="ttdeci">void unlockMutex()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/d01/_control_parameters_8h_source.html#l00430">ControlParameters.h:430</a></div></div>
<div class="ttc" id="class_control_parameter_collection_html_a10baad903728358f310f523c45e0326c"><div class="ttname"><a href="../../dd/da1/class_control_parameter_collection.html#a10baad903728358f310f523c45e0326c">ControlParameterCollection::_map</a></div><div class="ttdeci">std::map&lt; std::string, ControlParameter * &gt; _map</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/d01/_control_parameters_8h_source.html#l00114">ControlParameters.h:114</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_adaa9b0d834169514c675148f78f29962"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#adaa9b0d834169514c675148f78f29962">SimControlPanel::on_setTerrainButton_clicked</a></div><div class="ttdeci">void on_setTerrainButton_clicked()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00460">SimControlPanel.cpp:460</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a728b28e7a0ccf97ce92ba1ebcc8d675a"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a728b28e7a0ccf97ce92ba1ebcc8d675a">SimControlPanel::SimControlPanel</a></div><div class="ttdeci">SimControlPanel(QWidget *parent=nullptr)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00045">SimControlPanel.cpp:45</a></div></div>
<div class="ttc" id="class_control_parameter_collection_html_ad53fd1f116f012437c5933d150b630bb"><div class="ttname"><a href="../../dd/da1/class_control_parameter_collection.html#ad53fd1f116f012437c5933d150b630bb">ControlParameterCollection::clearAllSet</a></div><div class="ttdeci">void clearAllSet()</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d90/_control_parameters_8cpp_source.html#l00076">ControlParameters.cpp:76</a></div></div>
<div class="ttc" id="namespace_ui_html"><div class="ttname"><a href="../../dc/df0/namespace_ui.html">Ui</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00019">SimControlPanel.h:19</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a0eb8e9cf0f5ac5ba224c30d6085fc66b"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a0eb8e9cf0f5ac5ba224c30d6085fc66b">SimControlPanel::_userParameters</a></div><div class="ttdeci">ControlParameters _userParameters</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00081">SimControlPanel.h:81</a></div></div>
<div class="ttc" id="class_control_parameters_html_a12b144b3d659080b6e0bfd93569b566e"><div class="ttname"><a href="../../d8/d86/class_control_parameters.html#a12b144b3d659080b6e0bfd93569b566e">ControlParameters::isFullyInitialized</a></div><div class="ttdeci">bool isFullyInitialized()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/d01/_control_parameters_8h_source.html#l00403">ControlParameters.h:403</a></div></div>
<div class="ttc" id="class_control_parameter_collection_html_a47d611dedd2df7c3c07700c0900ae255"><div class="ttname"><a href="../../dd/da1/class_control_parameter_collection.html#a47d611dedd2df7c3c07700c0900ae255">ControlParameterCollection::deleteAll</a></div><div class="ttdeci">void deleteAll()</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d90/_control_parameters_8cpp_source.html#l00082">ControlParameters.cpp:82</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_ae5a66b0d3fecb2cdd9ee3c68f72e9182"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#ae5a66b0d3fecb2cdd9ee3c68f72e9182">FBModelState::q</a></div><div class="ttdeci">DVec&lt; T &gt; q</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00043">FloatingBaseModel.h:43</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_a97f42a6014fc5d9fd3dc22f7158099f4"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#a97f42a6014fc5d9fd3dc22f7158099f4">FBModelState::qd</a></div><div class="ttdeci">DVec&lt; T &gt; qd</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00044">FloatingBaseModel.h:44</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a92985704a3b4103254f4a8387a0705dc"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">SimControlPanel::_robotInterface</a></div><div class="ttdeci">RobotInterface * _robotInterface</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00078">SimControlPanel.h:78</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_graphics3_d_html"><div class="ttname"><a href="../../de/d6f/class_graphics3_d.html">Graphics3D</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/de7/_graphics3_d_8h_source.html#l00033">Graphics3D.h:33</a></div></div>
<div class="ttc" id="class_robot_control_parameters_html"><div class="ttname"><a href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d53/_robot_parameters_8h_source.html#l00012">RobotParameters.h:12</a></div></div>
<div class="ttc" id="_simulator_parameters_8h_html_aa00dee4f2e7a2c2386fa6a383347eaa4"><div class="ttname"><a href="../../d2/dc1/_simulator_parameters_8h.html#aa00dee4f2e7a2c2386fa6a383347eaa4">SIMULATOR_DEFAULT_PARAMETERS</a></div><div class="ttdeci">#define SIMULATOR_DEFAULT_PARAMETERS</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/dc1/_simulator_parameters_8h_source.html#l00014">SimulatorParameters.h:14</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a49a4c74791ccefa0e4055341f83ccd92"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">SimControlPanel::_parameters</a></div><div class="ttdeci">SimulatorControlParameters _parameters</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00080">SimControlPanel.h:80</a></div></div>
<div class="ttc" id="class_control_parameter_html_ae2a57fe8ce7d931da8903b2d45a2bf86"><div class="ttname"><a href="../../da/d98/class_control_parameter.html#ae2a57fe8ce7d931da8903b2d45a2bf86">ControlParameter::toString</a></div><div class="ttdeci">std::string toString()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/d01/_control_parameters_8h_source.html#l00316">ControlParameters.h:316</a></div></div>
<div class="ttc" id="union_control_parameter_value_html"><div class="ttname"><a href="../../df/df2/union_control_parameter_value.html">ControlParameterValue</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/d01/_control_parameters_8h_source.html#l00055">ControlParameters.h:55</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a96301cf6c70c8339547f448a47ee1307"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a96301cf6c70c8339547f448a47ee1307">SimControlPanel::on_saveUserButton_clicked</a></div><div class="ttdeci">void on_saveUserButton_clicked()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00567">SimControlPanel.cpp:567</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a5b70595cb694b786dadb966fd793e9de"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a5b70595cb694b786dadb966fd793e9de">SimControlPanel::loadRobotParameters</a></div><div class="ttdeci">void loadRobotParameters(RobotControlParameters &amp;params)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00219">SimControlPanel.cpp:219</a></div></div>
<div class="ttc" id="class_simulation_html_ad3b3a11e3a8d6e2119dbcf538802d5cf"><div class="ttname"><a href="../../dd/d14/class_simulation.html#ad3b3a11e3a8d6e2119dbcf538802d5cf">Simulation::loadTerrainFile</a></div><div class="ttdeci">void loadTerrainFile(const std::string &amp;terrainFileName, bool addGraphics=true)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d98/_simulation_8cpp_source.html#l00638">Simulation.cpp:638</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a18191363c7461cd1af623e790df2e71e"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a18191363c7461cd1af623e790df2e71e">SimControlPanel::on_kickButton_clicked</a></div><div class="ttdeci">void on_kickButton_clicked()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00590">SimControlPanel.cpp:590</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_aacc8230b4c29bc35ec7443643447bbf7"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#aacc8230b4c29bc35ec7443643447bbf7">SimControlPanel::on_joystickButton_clicked</a></div><div class="ttdeci">void on_joystickButton_clicked()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00237">SimControlPanel.cpp:237</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a8e2e46e62705f043140cb3ba5c20cb80"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a8e2e46e62705f043140cb3ba5c20cb80">SimControlPanel::_loadedUserSettings</a></div><div class="ttdeci">bool _loadedUserSettings</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00085">SimControlPanel.h:85</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_af65b310d0bd0bc382519de762ce32f90"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#af65b310d0bd0bc382519de762ce32f90">SimControlPanel::on_stopButton_clicked</a></div><div class="ttdeci">void on_stopButton_clicked()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00177">SimControlPanel.cpp:177</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a0228e09f693480d3975515c2536dd9d2"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a0228e09f693480d3975515c2536dd9d2">SimControlPanel::on_userControlTable_cellChanged</a></div><div class="ttdeci">void on_userControlTable_cellChanged(int row, int column)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00472">SimControlPanel.cpp:472</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_aba319814f4e1d9f0350828e38acaab7b"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#aba319814f4e1d9f0350828e38acaab7b">SimControlPanel::_started</a></div><div class="ttdeci">bool _started</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00074">SimControlPanel.h:74</a></div></div>
<div class="ttc" id="utilities_8h_html_afe1bbec53e0ac370224c4aa5c3433b0e"><div class="ttname"><a href="../../de/df0/utilities_8h.html#afe1bbec53e0ac370224c4aa5c3433b0e">getConfigDirectoryPath</a></div><div class="ttdeci">std::string getConfigDirectoryPath()</div><div class="ttdef"><b>Definition:</b> <a href="../../de/da5/utilities_8cpp_source.html#l00030">utilities.cpp:30</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a3d70f8eb9cf1855ca989f887a5543acc"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a3d70f8eb9cf1855ca989f887a5543acc">SVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 1 &gt; SVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00062">cppTypes.h:62</a></div></div>
<div class="ttc" id="class_control_parameters_html_a3eabcba112adc206c8a11d0cbfc75619"><div class="ttname"><a href="../../d8/d86/class_control_parameters.html#a3eabcba112adc206c8a11d0cbfc75619">ControlParameters::writeToYamlFile</a></div><div class="ttdeci">void writeToYamlFile(const std::string &amp;path)</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d90/_control_parameters_8cpp_source.html#l00200">ControlParameters.cpp:200</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a4556e36b30c9bfee75444c17db695978"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a4556e36b30c9bfee75444c17db695978">SimControlPanel::_simThread</a></div><div class="ttdeci">std::thread _simThread</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00073">SimControlPanel.h:73</a></div></div>
<div class="ttc" id="class_robot_interface_html_afb4bc3cd443238371c6b09be6d6e2da7"><div class="ttname"><a href="../../d6/d05/class_robot_interface.html#afb4bc3cd443238371c6b09be6d6e2da7">RobotInterface::startInterface</a></div><div class="ttdeci">void startInterface()</div><div class="ttdef"><b>Definition:</b> <a href="../../dd/d4a/_robot_interface_8cpp_source.html#l00176">RobotInterface.cpp:176</a></div></div>
<div class="ttc" id="_sim_control_panel_8h_html_a84e698606ec3548e7f8cf2e9387162b5"><div class="ttname"><a href="../../d7/dab/_sim_control_panel_8h.html#a84e698606ec3548e7f8cf2e9387162b5">DEFAULT_TERRAIN_FILE</a></div><div class="ttdeci">#define DEFAULT_TERRAIN_FILE</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00016">SimControlPanel.h:16</a></div></div>
<div class="ttc" id="class_simulation_html_a8a3a6fa9691b58d5dc614d98b8e4fefb"><div class="ttname"><a href="../../dd/d14/class_simulation.html#a8a3a6fa9691b58d5dc614d98b8e4fefb">Simulation::setRobotState</a></div><div class="ttdeci">void setRobotState(FBModelState&lt; double &gt; &amp;state)</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/ded/_simulation_8h_source.html#l00048">Simulation.h:48</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_aac45ac89880d2d316de41365cd6b7cfb"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#aac45ac89880d2d316de41365cd6b7cfb">SimControlPanel::on_robotTable_cellChanged</a></div><div class="ttdeci">void on_robotTable_cellChanged(int row, int column)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00340">SimControlPanel.cpp:340</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_afe0fc7cc7fd726d0aa663778aaee3fa4"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#afe0fc7cc7fd726d0aa663778aaee3fa4">SimControlPanel::_interfaceTaskManager</a></div><div class="ttdeci">PeriodicTaskManager * _interfaceTaskManager</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00077">SimControlPanel.h:77</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a742da7ea44b557634261c90268e0066a"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">SimControlPanel::_ignoreTableCallbacks</a></div><div class="ttdeci">bool _ignoreTableCallbacks</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00084">SimControlPanel.h:84</a></div></div>
<div class="ttc" id="class_control_parameters_html_a8f614fa95d472922d65efe48238a7afc"><div class="ttname"><a href="../../d8/d86/class_control_parameters.html#a8f614fa95d472922d65efe48238a7afc">ControlParameters::lockMutex</a></div><div class="ttdeci">void lockMutex()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/d01/_control_parameters_8h_source.html#l00428">ControlParameters.h:428</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt; double &gt;</a></div></div>
<div class="ttc" id="class_sim_control_panel_html"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html">SimControlPanel</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00023">SimControlPanel.h:23</a></div></div>
<div class="ttc" id="class_control_parameter_collection_html_a9a8b467533b42dd661d659b715383729"><div class="ttname"><a href="../../dd/da1/class_control_parameter_collection.html#a9a8b467533b42dd661d659b715383729">ControlParameterCollection::checkIfAllSet</a></div><div class="ttdeci">bool checkIfAllSet()</div><div class="ttdoc">are all the control parameters initialized? </div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d90/_control_parameters_8cpp_source.html#l00067">ControlParameters.cpp:67</a></div></div>
<div class="ttc" id="class_control_parameter_collection_html_a9e6262aa46992ca879b50d70df030a56"><div class="ttname"><a href="../../dd/da1/class_control_parameter_collection.html#a9e6262aa46992ca879b50d70df030a56">ControlParameterCollection::lookup</a></div><div class="ttdeci">ControlParameter &amp; lookup(const std::string &amp;name)</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/d01/_control_parameters_8h_source.html#l00095">ControlParameters.h:95</a></div></div>
<div class="ttc" id="class_simulation_html_a72521ff0a387ce6a53fec3bd9b209b5e"><div class="ttname"><a href="../../dd/d14/class_simulation.html#a72521ff0a387ce6a53fec3bd9b209b5e">Simulation::getRobotParams</a></div><div class="ttdeci">RobotControlParameters &amp; getRobotParams()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/ded/_simulation_8h_source.html#l00108">Simulation.h:108</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_ac7d1641c396f8939d615484a11b6ee49"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#ac7d1641c396f8939d615484a11b6ee49">SimControlPanel::loadUserParameters</a></div><div class="ttdeci">void loadUserParameters(ControlParameters &amp;params)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00228">SimControlPanel.cpp:228</a></div></div>
<div class="ttc" id="class_robot_interface_html_a273ece51bef7819a95e7924d2a130976"><div class="ttname"><a href="../../d6/d05/class_robot_interface.html#a273ece51bef7819a95e7924d2a130976">RobotInterface::getParams</a></div><div class="ttdeci">RobotControlParameters &amp; getParams()</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/df6/_robot_interface_8h_source.html#l00031">RobotInterface.h:31</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_ae99f7f71d3c008f892a22b42faad2a74"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">SimControlPanel::ui</a></div><div class="ttdeci">Ui::SimControlPanel * ui</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00075">SimControlPanel.h:75</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a3544df10d412a1c4879a31dce140f9ec"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a3544df10d412a1c4879a31dce140f9ec">SimControlPanel::_graphicsWindow</a></div><div class="ttdeci">Graphics3D * _graphicsWindow</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00079">SimControlPanel.h:79</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45">RobotType::CHEETAH_3</a></div></div>
<div class="ttc" id="class_graphics3_d_html_a322467ce2efdc212fe61c0cd782aa8f2"><div class="ttname"><a href="../../de/d6f/class_graphics3_d.html#a322467ce2efdc212fe61c0cd782aa8f2">Graphics3D::setAnimating</a></div><div class="ttdeci">void setAnimating(bool animating)</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d90/_graphics3_d_8cpp_source.html#l00331">Graphics3D.cpp:331</a></div></div>
<div class="ttc" id="class_simulator_control_parameters_html"><div class="ttname"><a href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/dc1/_simulator_parameters_8h_source.html#l00018">SimulatorParameters.h:18</a></div></div>
<div class="ttc" id="c_types_8h_html_ae9b1af5c037e57a98884758875d3a7c4"><div class="ttname"><a href="../../d0/d99/c_types_8h.html#ae9b1af5c037e57a98884758875d3a7c4">s32</a></div><div class="ttdeci">int32_t s32</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d99/c_types_8h_source.html#l00023">cTypes.h:23</a></div></div>
<div class="ttc" id="class_robot_interface_html_a66c4458fa8f57b3b8dfe6cf3ad707a76"><div class="ttname"><a href="../../d6/d05/class_robot_interface.html#a66c4458fa8f57b3b8dfe6cf3ad707a76">RobotInterface::stopInterface</a></div><div class="ttdeci">void stopInterface()</div><div class="ttdef"><b>Definition:</b> <a href="../../dd/d4a/_robot_interface_8cpp_source.html#l00193">RobotInterface.cpp:193</a></div></div>
<div class="ttc" id="class_simulation_html"><div class="ttname"><a href="../../dd/d14/class_simulation.html">Simulation</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/ded/_simulation_8h_source.html#l00039">Simulation.h:39</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a60bac36419bd6e73eb6ea69c006fff42"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a60bac36419bd6e73eb6ea69c006fff42">SimControlPanel::on_saveSimulatorButton_clicked</a></div><div class="ttdeci">void on_saveSimulatorButton_clicked()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00303">SimControlPanel.cpp:303</a></div></div>
<div class="ttc" id="_sim_control_panel_8cpp_html_a771db95f0473f6530892c739de3c1b83"><div class="ttname"><a href="../../d8/dcd/_sim_control_panel_8cpp.html#a771db95f0473f6530892c739de3c1b83">createErrorMessage</a></div><div class="ttdeci">static void createErrorMessage(const std::string &amp;text)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00011">SimControlPanel.cpp:11</a></div></div>
<div class="ttc" id="_sim_control_panel_8h_html"><div class="ttname"><a href="../../d7/dab/_sim_control_panel_8h.html">SimControlPanel.h</a></div><div class="ttdoc">QT gui for the simulator. </div></div>
<div class="ttc" id="class_sim_control_panel_html_a6546553c44c77b3cc5b6b6b6025d8d8d"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a6546553c44c77b3cc5b6b6b6025d8d8d">SimControlPanel::~SimControlPanel</a></div><div class="ttdeci">~SimControlPanel()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00087">SimControlPanel.cpp:87</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a6f6f79d1ec8e5b96b862652a286846bf"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a6f6f79d1ec8e5b96b862652a286846bf">SimControlPanel::on_simulatorTable_cellChanged</a></div><div class="ttdeci">void on_simulatorTable_cellChanged(int row, int column)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00246">SimControlPanel.cpp:246</a></div></div>
<div class="ttc" id="class_control_parameters_html_ab20496fc55207ace7e7589fd652edcf4"><div class="ttname"><a href="../../d8/d86/class_control_parameters.html#ab20496fc55207ace7e7589fd652edcf4">ControlParameters::defineAndInitializeFromYamlFile</a></div><div class="ttdeci">void defineAndInitializeFromYamlFile(const std::string &amp;path)</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d90/_control_parameters_8cpp_source.html#l00280">ControlParameters.cpp:280</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae2e5a0a178a2c528d8aa939f85db7a3e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae2e5a0a178a2c528d8aa939f85db7a3e">DVec</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, 1 &gt; DVec</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00102">cppTypes.h:102</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_aaef98cf6f4f5e4d82bf33eea3d1c80fc"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#aaef98cf6f4f5e4d82bf33eea3d1c80fc">SimControlPanel::loadSimulationParameters</a></div><div class="ttdeci">void loadSimulationParameters(SimulatorControlParameters &amp;params)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00209">SimControlPanel.cpp:209</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a78d284d08fd22d809fd436256f2cbc39"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a></div><div class="ttdeci">RobotType</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00120">cppTypes.h:120</a></div></div>
<div class="ttc" id="_control_parameters_8h_html"><div class="ttname"><a href="../../d2/d01/_control_parameters_8h.html">ControlParameters.h</a></div><div class="ttdoc">Interface to set gains/control parameters for simulator and robot These are designed to be updated in...</div></div>
<div class="ttc" id="class_sim_control_panel_html_a9a891de8902696e8c1775978d517ed58"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a9a891de8902696e8c1775978d517ed58">SimControlPanel::on_loadUserButton_clicked</a></div><div class="ttdeci">void on_loadUserButton_clicked()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00533">SimControlPanel.cpp:533</a></div></div>
<div class="ttc" id="_sim_control_panel_8h_html_a3c3ad9a240dfd4de8da2c87896dfd0a1"><div class="ttname"><a href="../../d7/dab/_sim_control_panel_8h.html#a3c3ad9a240dfd4de8da2c87896dfd0a1">DEFAULT_USER_FILE</a></div><div class="ttdeci">#define DEFAULT_USER_FILE</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00017">SimControlPanel.h:17</a></div></div>
<div class="ttc" id="class_control_parameters_html_a18eb23794d712e6c56120e644883e4e0"><div class="ttname"><a href="../../d8/d86/class_control_parameters.html#a18eb23794d712e6c56120e644883e4e0">ControlParameters::initializeFromYamlFile</a></div><div class="ttdeci">void initializeFromYamlFile(const std::string &amp;path)</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d90/_control_parameters_8cpp_source.html#l00365">ControlParameters.cpp:365</a></div></div>
<div class="ttc" id="class_robot_interface_html"><div class="ttname"><a href="../../d6/d05/class_robot_interface.html">RobotInterface</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d4/df6/_robot_interface_8h_source.html#l00026">RobotInterface.h:26</a></div></div>
<div class="ttc" id="class_simulation_html_a343e571a3ad423fead44db01758fe54c"><div class="ttname"><a href="../../dd/d14/class_simulation.html#a343e571a3ad423fead44db01758fe54c">Simulation::getSimParams</a></div><div class="ttdeci">SimulatorControlParameters &amp; getSimParams()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/ded/_simulation_8h_source.html#l00106">Simulation.h:106</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_afdfa6b365805d23d5438862de97856ae"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#afdfa6b365805d23d5438862de97856ae">SimControlPanel::on_startButton_clicked</a></div><div class="ttdeci">void on_startButton_clicked()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00116">SimControlPanel.cpp:116</a></div></div>
<div class="ttc" id="class_periodic_task_manager_html"><div class="ttname"><a href="../../d2/d31/class_periodic_task_manager.html">PeriodicTaskManager</a></div><div class="ttdef"><b>Definition:</b> <a href="../../dc/d87/_periodic_task_8h_source.html#l00057">PeriodicTask.h:57</a></div></div>
<div class="ttc" id="class_simulation_html_a31364f2daa9daedef347aaff4001796c"><div class="ttname"><a href="../../dd/d14/class_simulation.html#a31364f2daa9daedef347aaff4001796c">Simulation::sendControlParameter</a></div><div class="ttdeci">void sendControlParameter(const std::string &amp;name, ControlParameterValue value, ControlParameterValueKind kind, bool isUser)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d98/_simulation_8cpp_source.html#l00216">Simulation.cpp:216</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a46ade2ee740fbaf1466b226a62e72ceb"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a46ade2ee740fbaf1466b226a62e72ceb">SimControlPanel::on_saveRobotButton_clicked</a></div><div class="ttdeci">void on_saveRobotButton_clicked()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00397">SimControlPanel.cpp:397</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_afe9de8bed4d2d8c0e6825b27abb11571"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#afe9de8bed4d2d8c0e6825b27abb11571">SimControlPanel::updateUiEnable</a></div><div class="ttdeci">void updateUiEnable()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00098">SimControlPanel.cpp:98</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html_ae42e1f0d68b89af761bcaf273b97bca7"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html#ae42e1f0d68b89af761bcaf273b97bca7">FBModelState::bodyOrientation</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Quat&lt; T &gt; bodyOrientation</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00040">FloatingBaseModel.h:40</a></div></div>
<div class="ttc" id="class_control_parameters_html_a6fc860c65c6484562dfc922cb5806410"><div class="ttname"><a href="../../d8/d86/class_control_parameters.html#a6fc860c65c6484562dfc922cb5806410">ControlParameters::generateUnitializedList</a></div><div class="ttdeci">std::string generateUnitializedList()</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d90/_control_parameters_8cpp_source.html#l00089">ControlParameters.cpp:89</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a035fd69773f435f526438e3fa698ef7d"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a035fd69773f435f526438e3fa698ef7d">SimControlPanel::on_driverButton_clicked</a></div><div class="ttdeci">void on_driverButton_clicked()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dcd/_sim_control_panel_8cpp_source.html#l00241">SimControlPanel.cpp:241</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a997010d4f985f70cd9eef7b9e79b4ec7"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a997010d4f985f70cd9eef7b9e79b4ec7">SimControlPanel::_terrainFileName</a></div><div class="ttdeci">std::string _terrainFileName</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00086">SimControlPanel.h:86</a></div></div>
<div class="ttc" id="class_simulation_html_a84d72d5cddf1b6b5dbbe94f83a448958"><div class="ttname"><a href="../../dd/d14/class_simulation.html#a84d72d5cddf1b6b5dbbe94f83a448958">Simulation::isRobotConnected</a></div><div class="ttdeci">bool isRobotConnected()</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/ded/_simulation_8h_source.html#l00111">Simulation.h:111</a></div></div>
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